I looked through the manual for the GT-AX6000 and could find no mention of a fallback firmware. I did have a Linksys router at one time with two firmwares. But not Asus! Is this a best kept secret?
Yes. The HND models have two partitions mtd0 and mtd1 which contain the current and previous firmware images (the same as PC BIOSes do) in case the update process fails. The currently active image alternates each time the firmware is updated. Theoretically what Tech9 said could be true but without seeing a log file that's pure speculation.
With no logs there is no way to tell for sure, but I see two possible scenarios: 1) someone else did it; 2) the router crashed and boot looped after.
Firmware auto update pushed by Asus on Asuswrt-Merlin - less likely. Hacker with unusual activity - somewhat likely. Crash and auto recovery - more likely.
The reason my advice is to keep an eye on this unit. Hardware failure is a possible reason for what happened. Caused by Asuswrt-Merlin firmware - unlikely.
I don't know when boot from the second image is triggered on this specific model. On some other dual image routers it's a number of failed boot attempts.